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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
VGL: Velocity Gain, Lower
Format
Data range
Shipping set
Default
l Sets the proportional gain of velocity loop when the Motor is stationary.
l The gain will be switched from the data of VG parameter to the data of VGL parameter when a
position error is within the data of GP parameter longer than a time set by the GT parameter.
l If the GP setting is 0, the VGL is invalid and the data of VG will be always valid.
l The TS or ?VG reports the current setting.
l Refer to "7.2.7. Automatic Gain Switching" for switching timing.
VI: Velocity Integrator Frequency
Format
Data range
Shipping set
Default
l Sets the integrator frequency of velocity loop.
l The TS or ?VI command reports the current setting.
l The VI/AJ starts the adjusting program.
l The VI data will be automatically adjusted when the LO and the SG data are changed.
l Change of the VI data will clear the LO and the VI settings to 0.
VIL: Velocity Integrator Frequency, Lower
Format
Data range
Sipping set
Default
l Sets the velocity integrator frequency of velocity loop when the Motor is stationary.
l The gain will be switched from the data of the VI parameter to the data of the VIL parameter
when a position error is within the data of GP parameter longer than a time set by the GT
parameter.
l If the GP setting is 0, the VIL is invalid and the data of VI will be always valid.
l The TS or ?VG reports the current setting.
l Refer to "7.2.7. Automatic Gain Switching" for switching timing.
: VGL data
: 0.1 to 255.0
: 1.0
: Not available
: VI data
: 0.10 to 63.00 [Hz], or /AJ (Adjust mode)
: 1.00
: Not available
: VI data
: 0.10 to 63.00 [Hz]
: 1.00
: Not available
— 8-53 —
8. Glossary of Command and Parameter
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Troubleshooting
